Human motion database with a binary tree and node transition graphs

Database of human motion has been widely used for recognizing human motion and synthesizing humanoid motions. In this paper, we propose a data structure for storing and extracting human motion data and demonstrate that the database can be applied to the recognition and motion synthesis problems in robotics. We develop an efficient method for building a human motion database from a collection of continuous, multi-dimensional motion clips. The database consists of a binary tree representing the hierarchical clustering of the states observed in the motion clips, as well as node transition graphs representing the possible transitions among the nodes in the binary tree. Using databases constructed from real human motion data, we demonstrate that the proposed data structure can be used for human motion recognition, state estimation and prediction, and robot motion planning.     

Replica Exchange Light Transport

We solve the light transport problem by introducing a novel unbiased Monte Carlo algorithm called replica exchange light transport, inspired by the replica exchange Monte Carlo method in the fields of computational physics and statistical information processing. The replica exchange Monte Carlo method is a sampling technique whose operation resembles simulated annealing in optimization algorithms using a set of sampling distributions. We apply it to the solution of light transport integration by extending the probability density function of an integrand of the integration to a set of distributions. That set of distributions is composed of combinations of the path densities of different path generation types: uniform distributions in the integral domain, explicit and implicit paths in light (particle/photon) tracing, indirect paths in bidirectional path tracing, explicit and implicit paths in path tracing, and implicit caustics paths seen through specular surfaces including the delta function in path tracing. The replica‐exchange light transport algorithm generates a sequence of path samples from each distribution and samples the simultaneous distribution of those distributions as a stationary distribution by using the Markov chain Monte Carlo method. Then the algorithm combines the obtained path samples from each distribution using multiple importance sampling. We compare the images generated with our algorithm to those generated with bidirectional path tracing and Metropolis light transport based on the primary sample space. Our proposing algorithm has better convergence property than bidirectional path tracing and the Metropolis light transport, and it is easy to implement by extending the Metropolis light transport.     

Development of ‘UR-System 2’: a training system for recovery of motor function of plegic upper limb after stroke

We developed a new training system, called ‘UR-System 2’, for the recovery of motor function of a plegic upper limb after stroke. UR-System 2, which was redesigned based on knowledge gained from clinical tests using UR-System 1, was newly equipped with a function for testing the motor function of patients, such as isolated movement. In order to verify the effectiveness of UR-System 2, we conducted the following procedures: we verified the safety of training in healthy persons; we gathered standard data on pronation and supination of healthy forearms during tests; and, we verified that the test function was effective in evaluating the recovery effect of isolated movement in two hemiplegic patients.     

The wettability and the reaction for SiC particle/Al alloy system

The incorporation process and the wettability for an SiC particles/aluminium alloy system were measured. The wettability between SiC particle and liquid aluminium was evaluated by the time required for the particulate incorporation. The incorporation time could be measured from a stirring time-melt temperature chart. Magnesium and titanium shortened the incorporation time of -SiC particles into liquid aluminium and improved the wettability because of their strong affinity for SiC. Copper and zinc prolonged the incorporation time and no reaction products were found in the matrix. Furthermore, surface active elements with weak affinity for SiC (lead and bismuth) extremely prolonged the incorporation time because these elements prevent the reaction at the interface, whereas lithium shortened the incorporation time remarkably.     

Evaluating the protective effects of radon inhalation or ascorbic acid treatment after transient global cerebral ischemic injury in gerbils

In this study, we compared the protective effects of radon inhalation and ascorbic acid administration on transient global cerebral ischemic injury in gerbils. Gerbils were treated with radon inhalation (2000 Bq/m³, 24 hours) or ascorbic acid (100, 300, or 500 mg/kg body weight). Then, transient global cerebral ischemia was induced by bilateral occlusion of the common carotid artery. Results showed that the number of damaged neurons was significantly increased in gerbils that underwent ischemia compared with that in control gerbils. However, the number of damaged neurons in gerbils treated with radon or 500 mg/kg of ascorbic acid before ischemia was significantly lower than gerbils who were subjected to ischemia without any pretreatment, and the protective effects of radon inhalation were similar to the effects of administering 500 mg/kg ascorbic acid. The levels of superoxide dismutase (SOD) and total glutathione (t-GSH) in brain tissue were increased to a similar extent by pretreatment with radon inhalation or 500 mg/kg of ascorbic acid. These findings suggested that radon inhalation has a protective antioxidative effect against transient global cerebral ischemic injury similar to 500 mg/kg ascorbic acid treatment.     

Locomotion Control of MEMS Microrobot Using Pulse‐Type Hardware Neural Networks

This paper presents the locomotion control of a microelectromechanical system (MEMS) microrobot. The MEMS microrobot demonstrates locomotion control by pulse‐type hardware neural networks (P‐HNN). P‐HNN generate oscillatory patterns of electrical activity like those of living organisms. The basic component of P‐HNN is a pulse‐type hardware neuron model (P‐HNM). The P‐HNM has the same basic features as biological neurons, such as the threshold, the refractory period, and spatiotemporal summation characteristics, and allows the generation of continuous action potentials. P‐HNN has been constructed with MOSFETs and can be integrated by CMOS technology. Like living organisms, P‐HNN has realized robot control without using software programs or A/D converters. The size of the microrobot fabricated by MEMS technology was 4 × 4 × 3.5 mm. The frame of the robot was made of a silicon wafer, equipped with rotary actuators, link mechanisms, and six legs. The MEMS microrobot emulated the locomotion method and the neural networks of an insect by rotary actuators, link mechanisms, and the P‐HNN. We show that the P‐HNN can control the forward and backward locomotion of the fabricated MEMS microrobot, and that it is possible to switch its direction by inputting an external trigger pulse. The locomotion speed was 19.5 mm/min and the step size was 1.3 mm. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(3): 43–50, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22473     

Glycemic Variability and Oxidative Stress: A Link between Diabetes and Cardiovascular Disease?

Diabetes is associated with a two to three-fold increase in risk of cardiovascular disease. However, intensive glucose-lowering therapy aiming at reducing HbA1c to a near-normal level failed to suppress cardiovascular events in recent randomized controlled trials. HbA1c reflects average glucose level rather than glycemic variability. In in vivo and in vitro studies, glycemic variability has been shown to be associated with greater reactive oxygen species production and vascular damage, compared to chronic hyperglycemia. These findings suggest that management of glycemic variability may reduce cardiovascular disease in patients with diabetes; however, clinical studies have shown conflicting results. This review summarizes the current knowledge on glycemic variability and oxidative stress, and discusses the clinical implications.     

Operation Assist by Vibration Suppression Control Using Impulse‐Shaped Signals for Power Assist Conveyance System

This paper presents an assist control method for a flexible parts conveyance task using a power assist conveyance system. The assist control method should be designed so as not only to suppress vibration but also to reduce the degradation of operating feel. For this purpose, multiple impulse‐shaped signals are used as feedforward signals in order to reduce the vibration of flexible parts during conveyance. In addition, the adjustment time is introduced to adjust the input timing of the impulse‐shaped signal and to suppress vibration. In order to improve the degradation of operating feel, the smaller amplitudes of the three impulse‐shaped signals are used and input repeatedly. The effectiveness of the proposed system was verified experimentally. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(2): 31–39, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22476     

Laser brazing of a dissimilar joint of austenitic stainless steel and pure copper

In many industries, there are applications that require the joining of stainless steel and copper components; therefore, the welding of dissimilar stainless steel/copper joints is a common process. For this investigation, the optimal brazing conditions and suitable filler metals for laser brazing of stainless steel/copper lap joints were studied. Tensile shear force increases with increases in the laser spot diameter or in the laser irradiation angle, which is associated with increased bonding width; however, as bonding width approaches 2 mm, tensile shear force reaches a saturated value due to fracturing at the HAZ of the Cu base plate. In order to obtain joints with high tensile shear strength, laser brazing was optimized by using Cu–Si-based filler metal under the following conditions: laser power, 4 kW; spot diameter, 3 mm; laser irradiation angle, 80°; irradiation position shift, 0.6 mm; brazing speed, 0.30 m/min; and filler metal feed speed, 0.30 min. Concerning filler metals, it was found that the Ni–Cu type showed relatively large tensile shear force even at high welding speeds in comparison with those of the Cu–Si, Cu, Cu–Ni, Ni–Cu and Ni types, respectively.